CN109117419A - A kind of highly-precise filtering method for inertial navigation computer - Google Patents
A kind of highly-precise filtering method for inertial navigation computer Download PDFInfo
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- CN109117419A CN109117419A CN201810857517.0A CN201810857517A CN109117419A CN 109117419 A CN109117419 A CN 109117419A CN 201810857517 A CN201810857517 A CN 201810857517A CN 109117419 A CN109117419 A CN 109117419A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F15/00—Digital computers in general; Data processing equipment in general
- G06F15/76—Architectures of general purpose stored program computers
- G06F15/78—Architectures of general purpose stored program computers comprising a single central processing unit
- G06F15/7807—System on chip, i.e. computer system on a single chip; System in package, i.e. computer system on one or more chips in a single package
- G06F15/7817—Specially adapted for signal processing, e.g. Harvard architectures
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H2017/0072—Theoretical filter design
- H03H2017/0081—Theoretical filter design of FIR filters
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Abstract
The present invention relates to a kind of highly-precise filtering methods for inertial navigation computer, comprising steps of 1) current signal of accelerometer torquer low side is converted into voltage signal；2) low-pass filtering is carried out to voltage signal；3) AD sampling is carried out to filtered signal；4) AD sampled signal is sent into FPGA and carries out FIR filtering.The present invention solves FIR filter employed in existing inertial navigation and occupies CPU task, the technical issues of response delay, the FIR filtering that the filtering method of inertial navigation computer of the present invention uses is realized on FPGA, the task load of increase CPU is not needed, the task time of occupancy CPU, the reason time greatly improved are not needed yet.
Description
Technical field
The present invention relates to a kind of realization of high-precision FIR filter, can sampled value to inertial navigation computer accelerometer into
Row effectively filtering, to improve inertial navigation computer sampling precision.
Background technique
Inertial navigation computer is mainly used for completing the function such as the digital quantity reception, and related timing, communication of gyro, accelerometer
Energy.The output of optical fibre gyro inherently digital quantity, precision are determined by gyro manufacturer；Therefore, accelerometer AD, which is sampled, is
One of most crucial function of optical fiber inertial navigation computer.Improving accelerometer AD sampling precision is also the weight for improving inertial navigation navigation accuracy
Want means.In inertial navigation computer, accelerometer AD sampling precision directly determines the precision of inertial navigation product, and samples essence
The raising of degree is mainly filtered by FIR, and the FIR filtering of traditional accelerometer is realized by way of programming in CPU
, increase the task load of CPU, occupies the task time of CPU.
Summary of the invention
CPU task is occupied in order to solve FIR filter employed in existing inertial navigation, the technical issues of response delay, this
Invention provides a kind of high-precision FIR filtering method for inertial navigation computer.
Technical solution of the invention:
A kind of highly-precise filtering method for inertial navigation computer, it is characterised in that the following steps are included:
1) current signal of accelerometer torquer low side is converted into voltage signal；
2) low-pass filtering is carried out to voltage signal；
3) AD sampling is carried out to filtered signal；
4) AD sampled signal is sent into FPGA and carries out FIR filtering.
The concrete mode of FIR filtering of the present invention is:
4.1) FIR filter is designed:
4.1.1 FIR filter coefficient) is calculated:
Known AD sample frequency Fs, the cutoff frequency fc of FIR filter, using etc. corrugated designs method, designed with matlab
The filter coefficient h (N) needed out；
4.1.2) will be in 4.1.1) in generate FIR filter coefficient h (N) imported into the FIR IP kernel of FPGA, generate
Corresponding FIR filter；
4.2) FPGA calling FIR filter realization filtering, specific filtering are as follows:
Wherein x (n) is AD sampled result sequence, and h (m) is the coefficient of FIR filter, and y (n) is filter result.
In order to guarantee the accurate convenience of sampling, further step 1) voltage is converted for current signal using sampling resistor
Signal.
In order to improve filtering accuracy, further step 2) it is filtered using quadravalence Butterworth LPF.
In order to guarantee signal strength, further step 3) it before further include that gain scaling is carried out to filtered signal.
Further step 4.1.1) in calculate FIR filter coefficient be 1,2,3 ... 12.
Advantage for present invention effect:
The filtering method of inertial navigation computer of the present invention using FIR filtering is realized on FPGA, does not need to increase CPU's
Task load does not need the task time for occupying CPU yet, greatly improves the processing time.
Detailed description of the invention
Fig. 1 is FIR filtering front and back Contrast on effect of the invention.
Specific embodiment
A kind of embodiment 1: highly-precise filtering method for inertial navigation computer, comprising the following steps:
1) current signal of accelerometer torquer low side is converted into voltage signal；
2) low-pass filtering is carried out to voltage signal；
3) AD sampling is carried out to filtered signal；
4) AD sampled signal is sent into FPGA and carries out FIR filtering.
In inertial navigation computer accelerometer signal sampling front-end quadravalence Butterworth LPF is added, first in the present invention
Filtering part high-frequency signal；Filtered signal feeding AD is sampled again, the data of acquisition are carried out FIR filter by FPGA again
Wave.Accelerometer torquer low-side current signal carries out 4 rank Butterworth low pass after the sampling of accurate sampling resistor first
Wave, band connection frequency are set as 60Hz, and stop-band frequency is set as 200Hz.Filtered signal enters FPGA after AD is sampled, then passes through
Cross FIR filtering processing.
FIR filtering of the invention is realized on FPGA, is not had to occupy CPU task time, is increased the task load of CPU.
Embodiment 2: the present invention realizes the detailed process of FIR filtering on FPGA are as follows: namely step 4 is excellent in embodiment 1
It turns to:
4.1) FIR filter is designed:
4.1.1 the coefficient of FIR filter) is calculated:
Known AD sample frequency is Fs, and the cutoff frequency of FIR filter is fc, using etc. corrugated designs method, use matlab
Design the coefficient h (n) of the filter of needs；
4.1.2) will be in 4.1.1) in the coefficient of FIR filter that generates imported into the FIR IP kernel of FPGA, generate phase
The FIR filter answered；
4.2) FPGA calls FIR filter to realize filtering, specific filtering are as follows:
Wherein x (n) is AD sampled result sequence, and h (m) is the coefficient of FIR filter, and y (n) is filter result.
Embodiment 3: the FIR low pass filter of 12 ranks is realized.Implementation step is as follows:
Step 1: seek filter coefficient:
Known AD sample frequency is Fs, and the cutoff frequency of FIR filter is fc, using etc. corrugated designs method, use matlab
Design the coefficient h (n) of the filter of needs, n=12；
Step 2: exporting to filter coefficient file after filter coefficient is normalized, supply FPGA FIR IP kernel；
Step 3: generating FPGA IP kernel, filter coefficient file is imported, sample frequency and working frequency etc. are set；
Step 4: by FIR IP kernel example into FPGA engineering, part example code is as follows:
FIR FIR_filter_inst1(
.clk(clk14400),//input clk
.rfd(),//output rfd
.rdy(),//output rdy
.din(ad1),//input[23:0]din
.dout(f11))；//output[39:0]dout
Step 5) FPGA calls FIR filter to realize filtering, specific filtering are as follows:
Wherein x (n) is AD sampled result sequence, and h (m) is the coefficient of FIR filter, and y (n) is filter result.After filtering
It is extracted by 4 times, obtains final output data, filter effect is as shown in Figure 1 b.Wherein Fig. 1 a is the schematic diagram before FIR filtering.
Claims (6)
1. a kind of highly-precise filtering method for inertial navigation computer, it is characterised in that the following steps are included:
1) current signal of accelerometer torquer low side is converted into voltage signal；
2) low-pass filtering is carried out to voltage signal；
3) AD sampling is carried out to filtered signal；
4) AD sampled signal is sent into FPGA and carries out FIR filtering.
2. the highly-precise filtering method according to claim 2 for inertial navigation computer, it is characterised in that step 4) is specific
Are as follows:
4.1) FIR filter is designed:
4.1.1 FIR filter coefficient) is calculated:
Known AD sample frequency Fs, the cutoff frequency fc of FIR filter, using etc. corrugated designs method, with matlab design need
The filter coefficient h (N) wanted；
4.1.2) will be in 4.1.1) in the FIR filter coefficient h (N) that generates imported into the FIR IP kernel of FPGA, generate corresponding
FIR filter；
4.2) FPGA calls FIR filter to realize filtering, specific filtering are as follows:
Wherein x (n) is AD sampled result sequence, and h (m) is the coefficient of FIR filter, and y (n) is filter result.
3. the highly-precise filtering method according to claim 1 or 2 for inertial navigation computer, it is characterised in that step 1) is adopted
Voltage signal is converted by current signal with sampling resistor.
4. feature uses quadravalence in step 2) according to the highly-precise filtering method as claimed in claim 3 for inertial navigation computer
Butterworth LPF is filtered.
5. the highly-precise filtering method according to claim 4 for inertial navigation computer, it is characterised in that before step 3)
It further include that gain scaling is carried out to filtered signal.
6. the highly-precise filtering method according to claim 2 for inertial navigation computer, it is characterised in that step 4.1.1)
The middle coefficient for calculating FIR filter is 1,2,3 ... 12.
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| CN201810857517.0A CN109117419A (en) | 2018-07-31 | 2018-07-31 | A kind of highly-precise filtering method for inertial navigation computer |
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| CN201810857517.0A CN109117419A (en) | 2018-07-31 | 2018-07-31 | A kind of highly-precise filtering method for inertial navigation computer |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1851407A (en) * | 2006-05-30 | 2006-10-25 | 梁保山 | High-precision micro electromechanical combined inertial nevigation apparatus |
| CN201488737U (en) * | 2009-06-30 | 2010-05-26 | 中国航天科技集团公司燎原无线电厂 | Data acquisition system for inertia measuring unit |
| CN107979355A (en) * | 2017-12-22 | 2018-05-01 | 西安烽火电子科技有限责任公司 | A kind of FIR filter and its filtering method |
-
2018
- 2018-07-31 CN CN201810857517.0A patent/CN109117419A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1851407A (en) * | 2006-05-30 | 2006-10-25 | 梁保山 | High-precision micro electromechanical combined inertial nevigation apparatus |
| CN201488737U (en) * | 2009-06-30 | 2010-05-26 | 中国航天科技集团公司燎原无线电厂 | Data acquisition system for inertia measuring unit |
| CN107979355A (en) * | 2017-12-22 | 2018-05-01 | 西安烽火电子科技有限责任公司 | A kind of FIR filter and its filtering method |
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Application publication date: 20190101 |